CN109501880B - Single-wheel biped walking robot - Google Patents
Single-wheel biped walking robot Download PDFInfo
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- CN109501880B CN109501880B CN201811553938.0A CN201811553938A CN109501880B CN 109501880 B CN109501880 B CN 109501880B CN 201811553938 A CN201811553938 A CN 201811553938A CN 109501880 B CN109501880 B CN 109501880B
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- swing arm
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- leg
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The invention discloses a single-wheel biped walking robot, which comprises a robot body and two bionic legs arranged on the robot body, wherein the robot body is also provided with wheel legs, each wheel leg comprises a leg frame and more than one walking roller arranged on the leg frame, and the leg frames are arranged on the robot body in a height-adjustable mode through an adjusting assembly. The single-wheel biped walking robot has the advantages of good movement flexibility, strong adaptability, wide application range, simple and compact structure, low cost and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a single-wheel biped walking robot.
Background
The ground walking robot has wheel type, foot type, crawler type, composite type and other motion modes to adapt different work environments.
In complex terrains, the legged robot has great advantages, and the movement mode similar to that of human walking can be well adapted to the environment. The bipedal humanoid robot has excellent dynamic performance as an important part of the robot. The device has low requirement on the environment, can be well adapted to flat ground or complex pavement, and has the advantages of being capable of working in narrow space, crossing obstacles and the like. However, the gait planning of the legged robot always restricts the development of the legged robot because of the limited walking speed, the poor control of the balance and the complex gait planning. The wheeled robot has the advantages of simple mechanical structure, good balance stability and less contact with the ground, so that the control is simple and the dynamic interference is less. It is very sensitive to terrain and has poor ability to traverse obstacles.
In summary, it is important to develop a new robot that combines the advantages of a wheeled robot and a legged robot.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the single-wheel biped walking robot which is good in movement flexibility, strong in adaptability, wide in application range, simple and compact in structure and low in cost.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a single wheel biped walking robot, includes the organism and installs two bionical legs on the organism, still install the wheel leg on the organism, the wheel leg includes the leg frame and installs the more than one walking gyro wheel on the leg frame, the leg frame passes through adjusting part and installs on the organism with the mode that can height-adjusting.
As a further improvement of the above technical solution:
the adjusting part comprises a first swing arm and a second swing arm, the first swing arm is installed on the machine body in an articulated mode capable of swinging up and down, the second swing arm is installed at the swing end of the first swing arm in an articulated mode capable of swinging up and down, a first driving piece used for driving the first swing arm to swing is installed on the machine body, a second driving piece used for driving the second swing arm to swing is installed on the first swing arm, and the leg frame is installed on the second swing arm.
The leg frame is installed on the second swing arm through a buffering and damping mechanism, the buffering and damping mechanism comprises a sliding rod connected to the leg frame, the sliding rod is arranged on the second swing arm in a sliding mode and slides within a set height range, and an elastic piece which is elastic and forces the sliding rod to slide downwards is connected between the leg frame and the second swing arm.
The second swing arm is provided with a sliding guide hole, the sliding rod penetrates through the sliding guide hole and is in vertical sliding fit with the sliding guide hole, the leg frame is connected to the lower end of the sliding rod and limits the highest position of the height range, the sliding rod is in threaded connection with an adjusting nut, and the adjusting nut is located above the sliding guide hole and limits the highest position of the height range.
The elastic piece is a telescopic spring, the telescopic spring is sleeved outside the sliding rod, and two ends of the telescopic spring are respectively and correspondingly abutted against the leg frame and the second swing arm.
The first driving piece and the second driving piece are telescopic hydraulic cylinders or linear motors or telescopic air cylinders.
The swing range of the first swing arm and the second swing arm enables the leg frame to be located right above the machine body.
The bionic leg comprises a hip joint, a thigh, a shank and a foot, the hip joint is hinged to the body in a manner of swinging towards the inner side and the outer side of the body, the thigh is hinged to the hip joint in a manner of swinging back and forth, the shank is hinged to the thigh in a manner of swinging back and forth, the foot is connected to the shank, and the hip joint, the thigh and the shank are respectively connected with a swinging driving piece.
The foot part is hinged on the lower leg through an elastic hinge.
The swing driving piece is a telescopic hydraulic cylinder or a linear motor or a telescopic cylinder.
Compared with the prior art, the invention has the advantages that: the single-wheel biped walking robot can realize two motion modes, one is a biped motion mode that the wheel legs are lifted and only two bionic legs are used for driving to move; the other is a wheel-foot motion mode that the wheel legs are put down, play a role in supporting and steering and drive to move by utilizing two bionic legs. In a wheel-foot motion mode, the single-wheel biped walking robot has the advantages of a wheel type robot and a foot type robot at the same time, and is stable in motion performance, good in flexibility, high in speed and strong in adaptability to complex terrains; when the double-foot exercise mode is adopted, the device can adapt to more complex terrains, has small moving blind areas and large working space, and can work in narrow space and obstacle crossing work. The single-wheel biped walking robot has the advantages of good movement flexibility, strong adaptability, wide application range, simple and compact structure and low cost, and can be applied to various different occasions with better movement performance.
Drawings
Fig. 1 is a schematic perspective view of a single-wheel biped walking robot.
Fig. 2 is a schematic view of a three-dimensional structure of a bionic leg swinging to the outer side of a body.
Fig. 3 is a schematic perspective view of the single-wheel biped walking robot in a squatting state in a wheel-foot movement mode.
Fig. 4 is a schematic perspective view of the bionic leg on the left side of the single-wheel biped walking robot stepping forward in the wheel-foot movement mode.
Fig. 5 is a schematic perspective view of the bionic leg on the right side of the single-wheel biped walking robot stepping forward in the wheel-foot movement mode.
Fig. 6 is a schematic perspective view of the bionic leg on the left side of the single-wheel biped walking robot stepping forward in the biped movement mode.
Fig. 7 is a schematic perspective view of the bionic leg on the right side of the single-wheel biped walking robot stepping forward in the biped movement mode.
Illustration of the drawings:
1. a body; 2. a bionic leg; 201. a hip joint; 202. a thigh; 203. a lower leg; 204. a foot section; 205. a first hydraulic cylinder; 206. a second hydraulic cylinder; 207. a third hydraulic cylinder; 3. a wheel leg; 301. a leg frame; 302. a walking roller; 303. a first swing arm; 304. a second swing arm; 305. a first driving member; 306. a second driving member; 307. a slide bar; 308. an elastic member; 309. and adjusting the nut.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1 and 2, the single-wheel biped walking robot of the present embodiment includes a body 1 and two bionic legs 2 mounted on the body 1, a wheel leg 3 is further mounted on the body 1, the wheel leg 3 includes a leg frame 301 and a walking roller 302 mounted on the leg frame 301, the leg frame 301 is mounted on the body 1 in a manner of being capable of adjusting height through an adjusting assembly, and the height of the leg frame 301 relative to the body 1 is adjustable through the adjusting assembly. The single-wheel biped walking robot can realize two motion modes, one is a biped motion mode that the wheel legs 3 are lifted and only two bionic legs 2 are used for driving to move; the other is a wheel-foot motion mode that the wheel legs 3 are put down, the wheel legs 3 play a supporting and steering role, and two bionic legs 2 are used for driving to travel. In a wheel-foot motion mode, the single-wheel biped walking robot has the advantages of a wheel type robot and a foot type robot at the same time, and is stable in motion performance, good in flexibility, high in speed and strong in adaptability to complex terrains; when the double-foot exercise mode is adopted, the device can adapt to more complex terrains, has small moving blind areas and large working space, and can work in narrow space and obstacle crossing work. The single-wheel biped walking robot has the advantages of good movement flexibility, strong adaptability, wide application range, simple and compact structure and low cost, and can be applied to various different occasions with better movement performance.
In this embodiment, the adjusting assembly includes a first swing arm 303 and a second swing arm 304, the first swing arm 303 is hinged to the machine body 1 in an up-and-down swinging manner, the second swing arm 304 is hinged to the swinging end of the first swing arm 303 in an up-and-down swinging manner, a first driving member 305 for driving the first swing arm 303 to swing is installed on the machine body 1, a second driving member 306 for driving the second swing arm 304 to swing is installed on the first swing arm 303, and the leg rest 301 is installed on the second swing arm 304. The first swing arm 303 and the second swing arm 304 are driven by the first driving element 305 and the second driving element 306 to swing, so that the leg 301 can be correspondingly swung up and down, and the heights of the leg 301 and the walking roller 302 can be further adjusted. The adjusting assembly can realize large-range height adjustment of the robot walking rollers 302, facilitates adjustment of the gravity center position of the robot, and is high in reliability and strong in bearing capacity because moving parts are revolute pairs.
In this embodiment, the leg 301 is mounted on the second swing arm 304 through a buffering and damping mechanism, which can play a role of damping. The buffering and shock absorbing mechanism comprises a sliding rod 307 connected to the leg 301, the sliding rod 307 is slidably disposed on the second swing arm 304 and slides within a set height range, an elastic member 308 is connected between the leg 301 and the second swing arm 304 and elastically forces the sliding rod 307 to slide downward, under a normal condition that the walking roller 302 does not support the machine body 1, the sliding rod 307 is located at a lowest position (lower limit position) of the height range under the action of the elastic member 308, and when the walking roller 302 supports the machine body 1, the sliding rod 307 can slide up and down due to the fact that the elastic member 308 can be compressed, and therefore the shock absorbing purpose is achieved. The buffering and damping mechanism is simple in structure, low in cost and easy to manufacture.
In this embodiment, the second swing arm 304 is provided with a sliding guide hole, the sliding rod 307 is inserted into the sliding guide hole and is in up-and-down sliding fit with the sliding guide hole, the leg frame 301 is connected to the lower end of the sliding rod 307 and defines the highest position of the height range, the sliding rod 307 is connected with the adjusting nut 309 through a thread, and the adjusting nut 309 is located above the sliding guide hole and defines the highest position of the height range. The sliding range of the sliding rod 307 can be changed by adjusting the position of the adjusting nut 309 on the sliding rod 307, so that the height of the walking roller 302 can be conveniently adjusted according to actual conditions, and the manufacturing and assembling difficulty can be reduced.
In this embodiment, the elastic member 308 is an extension spring, the extension spring is sleeved outside the sliding rod 307, and two ends of the extension spring are respectively abutted against the leg frame 301 and the second swing arm 304, so that the mounting stability and reliability of the extension spring can be ensured, and the working stability and reliability of the single-wheel biped walking robot can be further ensured. In other embodiments, the elastic member 308 may be other elastic members that can be compressed.
In this embodiment, the first driving member 305 and the second driving member 306 are telescopic hydraulic cylinders. In other embodiments, the first driving element 305 and the second driving element 306 may also be linear motors or other driving elements with telescopic driving ends.
In this embodiment, the swing ranges of the first swing arm 303 and the second swing arm 304 enable the leg 301 to be located at a position directly above the machine body 1. In the biped motion mode, the leg frame 301 is located right above the robot body 1, so that the gravity center shift of the single-wheel biped walking robot can be avoided, and the stability of the robot when the robot travels by means of the two bionic legs 2 is improved.
In this embodiment, the bionic leg 2 includes a hip joint 201, a thigh 202, a lower leg 203 and a foot 204, the hip joint 201 is hinged to the body 1 in a manner of swinging towards the inner side and the outer side of the body 1, the thigh 202 is hinged to the hip joint 201 in a manner of swinging back and forth, the lower leg 203 is hinged to the thigh 202 in a manner of swinging back and forth, the foot 204 is connected to the lower leg 203, and the hip joint 201, the thigh 202 and the lower leg 203 are respectively connected with a swinging driving member. Specifically, the hinge axis of the hip joint 201 and the machine body 1 is parallel to the front-back direction (i.e., the direction of travel) of the machine body 1, the hinge axis of the thigh 202 and the hip joint 201 is perpendicular to the front-back direction of the machine body 1, and the hinge axis of the calf 203 and the thigh 202 is perpendicular to the front-back direction of the machine body 1.
In this embodiment, the swing driving member is a telescopic hydraulic cylinder. Specifically, the telescopic hydraulic cylinder for driving the hip joint 201 to swing is a first hydraulic cylinder 205, the telescopic hydraulic cylinder for driving the thigh 202 is a second hydraulic cylinder 206, and the telescopic hydraulic cylinder for driving the shank 203 is a third hydraulic cylinder 207. The cylinder body of the first hydraulic cylinder 205 is hinged on the machine body 1, the telescopic rod of the first hydraulic cylinder 205 is hinged with the hip joint 201, the cylinder body of the second hydraulic cylinder 206 is hinged on the hip joint 201, the telescopic rod of the second hydraulic cylinder 206 is hinged with the thigh 202, the cylinder body of the third hydraulic cylinder 207 is hinged on the thigh 202, and the telescopic rod of the third hydraulic cylinder 207 is hinged with the shank 203. In other embodiments, the swing driving element may also be a linear motor or a telescopic cylinder or other driving element with a telescopic driving end.
The bionic leg 2 can move by driving the hip joint 201, the thigh 202 and the lower leg 203 to swing through corresponding swing drivers. Taking the swing actuator as a telescopic cylinder as an example, the second hydraulic cylinder 206 and the third hydraulic cylinder 207 control the thigh 202 and the shank 203 to swing back and forth, and when the second hydraulic cylinder 206 and the third hydraulic cylinder 207 are contracted, the squat state is achieved, when the second hydraulic cylinder 206 and the third hydraulic cylinder 207 are extended, the standing state is achieved, when the second hydraulic cylinder 206 is extended and the third hydraulic cylinder 207 is contracted, the step is achieved forward, and when the second hydraulic cylinder 206 is compressed and the third hydraulic cylinder 207 is extended, the step is achieved backward. The first hydraulic cylinder 205 drives the hip joint 201 to drive the bionic leg 2 to integrally swing inwards and outwards (namely, swing left and right), when the first hydraulic cylinder 205 is contracted, the bionic leg swings outwards, and otherwise, the bionic leg swings inwards.
In this embodiment, the foot 204 is hinged to the lower leg 203 through an elastic hinge, and the hinge axis of the foot 204 and the lower leg 203 is perpendicular to the front-back direction of the machine body 1.
The wheel leg 3 in this embodiment is provided with only one walking roller 302, and in other embodiments, more than two walking rollers 302 may be provided.
Preferably, in the wheel-foot motion mode, in order to improve the balance of the single-wheel biped walking robot during traveling, the control system is adopted to control the height of the walking rollers 302 to be consistent with the height of the bionic legs 2 in real time, specifically, the control system collects the height value of the lowest foot 204 in the two bionic legs 2, and the height of the walking rollers 302 is adjusted in real time through the adjusting assembly to be kept at the height value. The aforementioned heights all refer to the height relative to the body 1.
The single-wheel biped walking robot has very wide application field, and can complete a series of works such as material transportation, terrain investigation, duty communication, anti-terrorist blasting and the like only by simple modification.
Two motion modes of the single-wheel biped walking robot are described in detail as follows:
in the wheel-foot movement mode, as shown in fig. 3 to 5, the wheel legs 3 are lowered, the single-wheel biped walking robot can perform the rising (see fig. 4 and 5) and squatting (see fig. 3) actions under the driving of the second hydraulic cylinder 206 and the third hydraulic cylinder 207, and the first driving member 305 and the second driving member 306 drive the walking rollers 302 to swing up and down correspondingly, so that the whole body 1 can be lowered or raised. As shown in fig. 4 and 5, when the single-wheel biped walking robot travels, the second hydraulic cylinder 206 and the third hydraulic cylinder 207 drive the bionic legs 2 to step forward from the back, when one bionic leg 2 falls, the other bionic leg 2 lifts up to make the same action, so that the two bionic legs 2 alternately step forward to form a walking action, the walking rollers 302 are pushed to travel, and when the alternating speed of the two bionic legs 2 is increased, a running effect is formed.
In the bipedal movement mode, as shown in fig. 6 and 7, the wheel leg 3 is lifted, the single-wheel bipedal walking robot is similar to a bipedal robot, and under the driving of the first hydraulic cylinder 205, the second hydraulic cylinder 206 and the third hydraulic cylinder 207, the two bionic legs 2 alternately move forward and backward, so that the single-wheel bipedal walking robot can travel. The difference between the travel in this mode and the travel in the wheel-foot motion mode is that, during the travel, the first hydraulic cylinder 205 drives the bionic leg 2 to swing laterally to move the gravity center position of the single-wheel biped walking robot, so as to ensure the balance of the single-wheel biped walking robot.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-described embodiments. Modifications and variations that may occur to those skilled in the art without departing from the spirit and scope of the invention are to be considered as within the scope of the invention.
Claims (7)
1. The utility model provides a single wheel biped walking robot, includes organism (1) and installs two bionical legs (2) on organism (1), its characterized in that: the machine body (1) is further provided with wheel legs (3), each wheel leg (3) comprises a leg frame (301) and a walking roller (302) arranged on the leg frame (301), and the leg frames (301) are arranged on the machine body (1) in a height-adjustable mode through an adjusting assembly; the adjusting assembly comprises a first swing arm (303) and a second swing arm (304), the first swing arm (303) is hinged to the machine body (1) in a vertically-swinging mode, the second swing arm (304) is hinged to the swinging end of the first swing arm (303) in a vertically-swinging mode, a first driving piece (305) for driving the first swing arm (303) to swing is mounted on the machine body (1), a second driving piece (306) for driving the second swing arm (304) to swing is mounted on the first swing arm (303), and the leg frame (301) is mounted on the second swing arm (304); the swing range of the first swing arm (303) and the second swing arm (304) enables the leg frame (301) to be located right above the machine body (1);
the leg frame (301) is mounted on the second swing arm (304) through a buffering and damping mechanism, the buffering and damping mechanism comprises a sliding rod (307) connected to the leg frame (301), the sliding rod (307) is slidably arranged on the second swing arm (304) and slides in a set height range, and an elastic piece (308) which elastically forces the sliding rod (307) to slide downwards is connected between the leg frame (301) and the second swing arm (304).
2. The single-wheel biped walking robot of claim 1, wherein: the second swing arm (304) is provided with a sliding guide hole, the sliding rod (307) penetrates through the sliding guide hole and is in up-and-down sliding fit with the sliding guide hole, the leg frame (301) is connected to the lower end of the sliding rod (307) and limits the highest position of the height range, the sliding rod (307) is in threaded connection with an adjusting nut (309), and the adjusting nut (309) is located above the sliding guide hole and limits the highest position of the height range.
3. The single-wheel biped walking robot of claim 1, wherein: the elastic piece (308) is a telescopic spring, the telescopic spring is sleeved outside the sliding rod (307), and two ends of the telescopic spring are respectively and correspondingly abutted against the leg frame (301) and the second swing arm (304).
4. The single-wheel biped walking robot of claim 1, wherein: the first driving piece (305) and the second driving piece (306) are telescopic hydraulic cylinders or linear motors or telescopic air cylinders.
5. The single-wheel biped walking robot of any one of claims 1 to 4, characterized in that: the bionic leg (2) comprises a hip joint (201), thighs (202), lower legs (203) and feet (204), the hip joint (201) is hinged to the body (1) in a mode that the hip joint can swing towards the inner side and the outer side of the body (1), the thighs (202) are hinged to the hip joint (201) in a mode that the thighs can swing back and forth, the lower legs (203) are hinged to the thighs (202) in a mode that the lower legs can swing back and forth, the feet (204) are connected to the lower legs (203), and the hip joint (201), the thighs (202) and the lower legs (203) are respectively connected with swing driving pieces.
6. The single-wheel biped walking robot of claim 5, characterized in that: the foot part (204) is hinged on the lower leg (203) through an elastic hinge.
7. The single-wheel biped walking robot of claim 5, characterized in that: the swing driving piece is a telescopic hydraulic cylinder or a linear motor or a telescopic cylinder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811553938.0A CN109501880B (en) | 2018-12-18 | 2018-12-18 | Single-wheel biped walking robot |
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| CN201811553938.0A CN109501880B (en) | 2018-12-18 | 2018-12-18 | Single-wheel biped walking robot |
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| CN109501880A CN109501880A (en) | 2019-03-22 |
| CN109501880B true CN109501880B (en) | 2021-07-13 |
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| CN109823436A (en) * | 2019-03-27 | 2019-05-31 | 北京真机智能科技有限公司 | For dispensing the robot of cargo |
| CN110861728A (en) * | 2019-11-20 | 2020-03-06 | 燕山大学 | Wheel leg type automatic guiding trolley |
| CN112937714A (en) * | 2019-12-11 | 2021-06-11 | 北京深醒科技有限公司 | Biped robot with security patrol function |
| CN111776106B (en) * | 2020-08-12 | 2024-02-23 | 腾讯科技（深圳）有限公司 | Mechanical leg and wheeled mobile device |
| CN112141234B (en) * | 2020-08-28 | 2022-05-17 | 诸暨市蓝了电子科技有限公司 | Foot swinging of multi-foot wheeled robot and multi-foot wheeled robot |
| CN112572634B (en) * | 2020-11-16 | 2023-03-31 | 长春工业大学 | Wheel-foot hybrid walking robot structure and control system |
| CN115027592A (en) * | 2021-03-04 | 2022-09-09 | 山河智能特种装备有限公司 | Walking leg mechanism and wheel-step bimodal maneuvering platform |
| CN115092282A (en) * | 2021-03-04 | 2022-09-23 | 山河智能特种装备有限公司 | Bionic walking leg mechanism and special vehicle |
| FR3126958A1 (en) | 2021-09-16 | 2023-03-17 | Horus Marie Siddharta 2030 | High mobility compact land vehicle |
| CN114715304B (en) * | 2022-03-22 | 2023-03-14 | 浙江工贸职业技术学院 | Polymorphic automatic bionic dog |
| CN114793668A (en) * | 2022-04-15 | 2022-07-29 | 成都理工大学 | Intelligent robot is pruned to branch |
| CN114771692B (en) * | 2022-05-05 | 2022-11-29 | 哈尔滨工业大学 | Walking driving device |
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